#ifndef CLUSTER_H
#define CLUSTER_H
#include <cmath>
#include <iostream>
#include <string>
#include "../ControlLib/Motor.h"
#include "../ControlLib/Bumper.h"
#include "../ControlLib/LED.h"
#include "../ControlLib/send.h"

#include "../Algorithms/robotParser.h"
void clusterClosest(FindRobots& finder,int color = 0, bool run = true);
void clusterFurthest(FindRobots& finder,int color = 0, bool run = true);
void clusterDirection(FindRobots& finder, const double angle,int color = 0, bool run = true);
void clusterTrack(FindRobots& finder, double& rad, double& angle, Motor &motor, Bumper &bumpStat,int color = 0);
#endif
